No, actions must be performed without desire of fruits/results but with God as the focus and centre of everything. Food will be prepared and we will be receiving it as prasād at the end, then why prepare it with the selfish motive of oneself in mind? Instead, why not prepare it with the faith that we are preparing it for God?
This is the difference between a materialistic person and a devotee. The former prepares food for oneself and the latter prepares food with God in mind, offers it to God and receives it after as prasād. No one remains hungry from the two personalities. Only the faith in each of these individuals is different.